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<div class="title">particle_filter.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef PCL_GPU_TRACKING_PARTICLE_FILTER_H_</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#define PCL_GPU_TRACKING_PARTICLE_FILTER_H_</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_macros.h&gt;</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;pcl/gpu/containers/device_array.h&gt;</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160; </div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2point__types_8h.html">pcl/point_types.h</a>&gt;</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;pcl/point_cloud.h&gt;</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &lt;pcl/PointIndices.h&gt;</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_macros.h&gt;</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160; </div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &lt;pcl/gpu/kinfu/pixel_rgb.h&gt;</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &lt;pcl/tracking/particle_filter.h&gt;</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160; </div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor">#include &lt;Eigen/Dense&gt;</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160; </div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="preprocessor">#include &quot;internal.h&quot;</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160; </div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;{</div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;  <span class="keyword">namespace </span>gpu</div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;  { </div>
<div class="line"><a name="l00023"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_particle_filter_g_p_u_tracker.html">   23</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classpcl_1_1gpu_1_1_particle_filter_g_p_u_tracker.html">ParticleFilterGPUTracker</a></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;    {</div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00027"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_particle_filter_g_p_u_tracker.html#a7183cdd71a926f8fdda6003c92977f87">   27</a></span>&#160;        <span class="keyword">typedef</span> <a class="code" href="structpcl_1_1_point_x_y_z.html">pcl::PointXYZ</a> <a class="code" href="classpcl_1_1gpu_1_1_particle_filter_g_p_u_tracker.html#a7183cdd71a926f8fdda6003c92977f87">PointType</a>;</div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;            <span class="comment">//typedef pcl::Normal       NormalType;</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;            <span class="keyword">typedef</span> <a class="code" href="structpcl_1_1_r_g_b.html">pcl::RGB</a>            <a class="code" href="structpcl_1_1_r_g_b.html">PixelRGB</a>;</div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;            </div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;            <span class="keyword">typedef</span> <a class="code" href="structpcl_1_1_point_x_y_z.html">pcl::PointXYZ</a>       <a class="code" href="structpcl_1_1_point_x_y_z.html">StateXYZ</a>;</div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;            <span class="keyword">typedef</span> <a class="code" href="structpcl_1_1_point_x_y_z.html">pcl::PointXYZ</a>       <a class="code" href="structpcl_1_1_point_x_y_z.html">StateRPY</a>;</div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;            </div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;            <span class="keyword">typedef</span> <a class="code" href="structpcl_1_1tracking_1_1_particle_x_y_z_r_p_y.html">pcl::tracking::ParticleXYZRPY</a> <a class="code" href="structpcl_1_1tracking_1_1_particle_x_y_z_r_p_y.html">StateType</a>;</div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160; </div>
<div class="line"><a name="l00037"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_particle_filter_g_p_u_tracker.html#a2601d2b638dcdd4e8cb3ab91e1824b49">   37</a></span>&#160;            <a class="code" href="classpcl_1_1gpu_1_1_particle_filter_g_p_u_tracker.html#a2601d2b638dcdd4e8cb3ab91e1824b49">ParticleFilterGPUTracker</a> ()</div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;            <span class="comment">//: ParticleFilterTracker&lt;PointInT, StateT&gt; ()</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;            {</div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;                tracker_name_ = <span class="stringliteral">&quot;ParticleFilterGPUTracker&quot;</span>;</div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;            }</div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;            </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;            <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00047"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_particle_filter_g_p_u_tracker.html#a24e0b6665a75bdbf493cdafc69dbee58">   47</a></span>&#160;                <a class="code" href="classpcl_1_1gpu_1_1_particle_filter_g_p_u_tracker.html#a24e0b6665a75bdbf493cdafc69dbee58">setParticleNum</a> (<span class="keyword">const</span> <span class="keywordtype">int</span> particle_num) { particle_num_ = particle_num; }</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;            </div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;            <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_particle_filter_g_p_u_tracker.html#a6a38518d4ba6d3eed5eeac1cdf55c42b">   51</a></span>&#160;                <a class="code" href="classpcl_1_1gpu_1_1_particle_filter_g_p_u_tracker.html#a6a38518d4ba6d3eed5eeac1cdf55c42b">getParticleNum</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> particle_num_; }</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160; </div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;            <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00057"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_particle_filter_g_p_u_tracker.html#a442a9725c9233a5cdc139c29611da172">   57</a></span>&#160;                <a class="code" href="classpcl_1_1gpu_1_1_particle_filter_g_p_u_tracker.html#a442a9725c9233a5cdc139c29611da172">setReferenceCloud</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D&lt;PointType&gt;</a> &amp;ref) { ref_ = ref; }</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;            </div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;            <span class="keyword">inline</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D&lt;PointType&gt;</a> <span class="keyword">const</span></div>
<div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_particle_filter_g_p_u_tracker.html#a72117a7e56e5de250ab2f13d955e3061">   61</a></span>&#160;                <a class="code" href="classpcl_1_1gpu_1_1_particle_filter_g_p_u_tracker.html#a72117a7e56e5de250ab2f13d955e3061">getReferenceCloud</a> () { <span class="keywordflow">return</span> ref_; }</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160; </div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;            <span class="keywordtype">int</span></div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;                cols ();</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160; </div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;            <span class="keywordtype">int</span></div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;                rows ();</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160; </div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;            <span class="keyword">virtual</span> <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;                operator() (<span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D&lt;PointType&gt;</a>&amp; input, <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D&lt;PixelRGB&gt;</a>&amp; input_colors)</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;            {</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160; </div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;            }</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160; </div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;            <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;                setMotion (StateType motion)</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;            { motion_ = motion; }</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;                        </div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;            <span class="keyword">virtual</span> StateType</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;                getResult();                        </div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160; </div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;            std::string tracker_name_;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160; </div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;            <span class="keyword">virtual</span> <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;            initCompute()</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;            {</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160; </div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;                <span class="comment">//pcl::device::initParticles(particle_num_, particle_xyz_, particle_rpy_, particle_weight_ );</span></div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;            }</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;            </div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;            <span class="keyword">virtual</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;            computeTracking()</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;            {</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160; </div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;            }                       </div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;            </div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;            <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;                allocateBuffers()</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;            {</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;                particles_.create( particle_num_ );             </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160; </div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;                random_number_generator_.create( particle_num_ );</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;                </div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;            }</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;            </div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;            <span class="comment">// reference point cloud</span></div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;            DeviceArray2D&lt;PointType&gt; ref_;</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160; </div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;            DeviceArray2D&lt;PixelRGB&gt; ref_colors_;</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;            <span class="comment">//DeviceArray2D&lt;NormalType&gt; ref_normals_;</span></div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160; </div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;            <span class="comment">// input point cloud</span></div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;            DeviceArray2D&lt;PointType&gt; input_;</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160; </div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;            DeviceArray2D&lt;PixelRGB&gt; input_colors_;</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160; </div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;            <span class="comment">//DeviceArray2D&lt;NormalType&gt; input_normals_;</span></div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;                        </div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;            <span class="comment">//StateCloud particles_;</span></div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;            DeviceArray&lt;StateType&gt; particles_;</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160; </div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;            <span class="comment">// random number generate state</span></div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;            DeviceArray&lt;curandState&gt; rng_states;</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;                        </div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;            <span class="keywordtype">int</span> particle_num_;</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160; </div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;            std::vector&lt;float&gt; step_noise_covariance_;</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160; </div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;      std::vector&lt;float&gt; initial_noise_covariance_;</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;        </div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;      std::vector&lt;float&gt; initial_noise_mean_;</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160; </div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;            StateType motion_;</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160; </div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;            <span class="keywordtype">float</span> motion_ratio_;</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160; </div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;            <span class="keywordtype">bool</span> use_colors_;</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160; </div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;            StateType representative_state_;            </div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160; </div>
<div class="line"><a name="l00144"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_particle_filter_g_p_u_tracker.html#a4703d339868481772608be7af5dee5e2">  144</a></span>&#160;            <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1gpu_1_1_particle_filter_g_p_u_tracker.html#a4703d339868481772608be7af5dee5e2">rows_</a>;</div>
<div class="line"><a name="l00146"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_particle_filter_g_p_u_tracker.html#af6811fae33b85cb269214784cfceffe8">  146</a></span>&#160;            <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1gpu_1_1_particle_filter_g_p_u_tracker.html#af6811fae33b85cb269214784cfceffe8">cols_</a>;</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160; </div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;        };</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;  }</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;}</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160; </div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// PCL_GPU_TRACKING_PARTICLE_FILTER_H_</span></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_device_array2_d_html"><div class="ttname"><a href="classpcl_1_1gpu_1_1_device_array2_d.html">pcl::gpu::DeviceArray2D</a></div><div class="ttdoc">DeviceArray2D class</div><div class="ttdef"><b>Definition:</b> device_array.h:155</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_particle_filter_g_p_u_tracker_html"><div class="ttname"><a href="classpcl_1_1gpu_1_1_particle_filter_g_p_u_tracker.html">pcl::gpu::ParticleFilterGPUTracker</a></div><div class="ttdef"><b>Definition:</b> particle_filter.h:24</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_particle_filter_g_p_u_tracker_html_a24e0b6665a75bdbf493cdafc69dbee58"><div class="ttname"><a href="classpcl_1_1gpu_1_1_particle_filter_g_p_u_tracker.html#a24e0b6665a75bdbf493cdafc69dbee58">pcl::gpu::ParticleFilterGPUTracker::setParticleNum</a></div><div class="ttdeci">void setParticleNum(const int particle_num)</div><div class="ttdoc">set the number of the particles.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:47</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_particle_filter_g_p_u_tracker_html_a2601d2b638dcdd4e8cb3ab91e1824b49"><div class="ttname"><a href="classpcl_1_1gpu_1_1_particle_filter_g_p_u_tracker.html#a2601d2b638dcdd4e8cb3ab91e1824b49">pcl::gpu::ParticleFilterGPUTracker::ParticleFilterGPUTracker</a></div><div class="ttdeci">ParticleFilterGPUTracker()</div><div class="ttdoc">Empty constructor.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:37</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_particle_filter_g_p_u_tracker_html_a442a9725c9233a5cdc139c29611da172"><div class="ttname"><a href="classpcl_1_1gpu_1_1_particle_filter_g_p_u_tracker.html#a442a9725c9233a5cdc139c29611da172">pcl::gpu::ParticleFilterGPUTracker::setReferenceCloud</a></div><div class="ttdeci">void setReferenceCloud(const DeviceArray2D&lt; PointType &gt; &amp;ref)</div><div class="ttdoc">set a pointer to a reference dataset to be tracked.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:57</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_particle_filter_g_p_u_tracker_html_a4703d339868481772608be7af5dee5e2"><div class="ttname"><a href="classpcl_1_1gpu_1_1_particle_filter_g_p_u_tracker.html#a4703d339868481772608be7af5dee5e2">pcl::gpu::ParticleFilterGPUTracker::rows_</a></div><div class="ttdeci">int rows_</div><div class="ttdoc">Height of input depth image.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:144</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_particle_filter_g_p_u_tracker_html_a6a38518d4ba6d3eed5eeac1cdf55c42b"><div class="ttname"><a href="classpcl_1_1gpu_1_1_particle_filter_g_p_u_tracker.html#a6a38518d4ba6d3eed5eeac1cdf55c42b">pcl::gpu::ParticleFilterGPUTracker::getParticleNum</a></div><div class="ttdeci">int getParticleNum() const</div><div class="ttdoc">get the number of the particles.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:51</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_particle_filter_g_p_u_tracker_html_a7183cdd71a926f8fdda6003c92977f87"><div class="ttname"><a href="classpcl_1_1gpu_1_1_particle_filter_g_p_u_tracker.html#a7183cdd71a926f8fdda6003c92977f87">pcl::gpu::ParticleFilterGPUTracker::PointType</a></div><div class="ttdeci">pcl::PointXYZ PointType</div><div class="ttdoc">Point type supported</div><div class="ttdef"><b>Definition:</b> particle_filter.h:27</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_particle_filter_g_p_u_tracker_html_a72117a7e56e5de250ab2f13d955e3061"><div class="ttname"><a href="classpcl_1_1gpu_1_1_particle_filter_g_p_u_tracker.html#a72117a7e56e5de250ab2f13d955e3061">pcl::gpu::ParticleFilterGPUTracker::getReferenceCloud</a></div><div class="ttdeci">DeviceArray2D&lt; PointType &gt; const getReferenceCloud()</div><div class="ttdoc">get a pointer to a reference dataset to be tracked.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:61</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_particle_filter_g_p_u_tracker_html_af6811fae33b85cb269214784cfceffe8"><div class="ttname"><a href="classpcl_1_1gpu_1_1_particle_filter_g_p_u_tracker.html#af6811fae33b85cb269214784cfceffe8">pcl::gpu::ParticleFilterGPUTracker::cols_</a></div><div class="ttdeci">int cols_</div><div class="ttdoc">Width of input depth image.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:146</div></div>
<div class="ttc" id="acommon_2include_2pcl_2point__types_8h_html"><div class="ttname"><a href="common_2include_2pcl_2point__types_8h.html">point_types.h</a></div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z.html">pcl::PointXYZ</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates. (SSE friendly)</div><div class="ttdef"><b>Definition:</b> point_types.hpp:282</div></div>
<div class="ttc" id="astructpcl_1_1_r_g_b_html"><div class="ttname"><a href="structpcl_1_1_r_g_b.html">pcl::RGB</a></div><div class="ttdoc">A structure representing RGB color information.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:334</div></div>
<div class="ttc" id="astructpcl_1_1tracking_1_1_particle_x_y_z_r_p_y_html"><div class="ttname"><a href="structpcl_1_1tracking_1_1_particle_x_y_z_r_p_y.html">pcl::tracking::ParticleXYZRPY</a></div><div class="ttdef"><b>Definition:</b> tracking.hpp:31</div></div>
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